NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
Urdf
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Description
I created a URDF of my own robot which has a D455 camera (and Jetson AGX Xavier). What steps do I need to follow in order to apply it to the isaac_ros_visual_slam_realsense_.launch.py?
I want to achieve this:
https://youtu.be/A8NOmkkV0bc?si=MdVY8m_z7r2hVNfj
The command:
ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_realsense.launch.py
works fine and shows all the topics in rviz.
Thanks for any advice :)
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with the isaac_ros_visual_slam_realsense.launch.py entry point and the provided ros2 launch command, then compare its current topics and RViz output with the supplied URDF and D455/Jetson setup. The work is complete when the custom robot model is applied successfully and produces the target visual-SLAM visualization shown in the referenced video.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- computer-vision, robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100